ROS IndexNo version for distro humble showing github. Known supported distros are highlighted in the buttons above.
|
deepracer_drive_plugin package from aws-deepracer repodeepracer_bringup deepracer_description deepracer_drive_plugin cmdvel_to_servo_pkg deepracer_interfaces_pkg enable_deepracer_nav_pkg |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.1 |
| License | Apache 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | Simulation artifacts, core components and configuration files to integrate AWS DeepRacer device with ROS Navigation stack. |
| Checkout URI | https://github.com/aws-deepracer/aws-deepracer.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2022-06-06 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
The deepracer_gazebo package hosts the deepracer_drive plugin that is required to move the car in simulation.
Additional Links
No additional links.
Maintainers
- AWS DeepRacer
Authors
No additional authors.
AWS DeepRacer Gazebo Package
Overview
The AWS DeepRacer repository contains the configuration and launch files to enable ROS Navigation Stack on AWS DeepRacer and control the vehicle using teleop-twist-keyboard, along with the core components to integrate AWS DeepRacer with ROS Navigation stack. For detailed information, see Introduction to the ROS Navigation stack using AWS DeepRacer Evo.
AWS DeepRacer uses Ackermann front-wheel steering to turn wheels on the inside and outside of a turn. This mean that the left and right front wheels generally turn at different angles. The deepracer_gazebo package contains the deepracer_drive gazebo plugin that has subscribes to the /cmd_vel topic and publishes the corresponding joint velocity and position commands to move the car in Gazebo environment. It also takes care of publishing the /odom messages required by the Nav2 packages.
License
The source code is released under Apache 2.0.
Plugin Details
Example:
<plugin name='gazebo_ros_deepracer_drive' filename='libgazebo_ros_deepracer_drive.so'>
<update_rate>15.0</update_rate>
<!-- wheels -->
<front_left_joint>front_left_wheel_joint</front_left_joint>
<front_right_joint>front_right_wheel_joint</front_right_joint>
<rear_left_joint>rear_left_wheel_joint</rear_left_joint>
<rear_right_joint>rear_right_wheel_joint</rear_right_joint>
<left_steering_joint>front_left_steer_joint</left_steering_joint>
<right_steering_joint>front_right_steer_joint</right_steering_joint>
<!-- Max absolute steer angle for tyre in radians-->
<!-- Any cmd_vel angular z greater than this would be capped -->
<max_steer>0.523599</max_steer>
<!-- Max absolute linear speed in m/s -->
<max_speed>4</max_speed>
<!-- output -->
<publish_odom>true</publish_odom>
<publish_odom_tf>true</publish_odom_tf>
<odometry_frame>odom</odometry_frame>
<robot_base_frame>base_link</robot_base_frame>
</plugin>
Node details
Subscribed topics
| Topic name | Message type | Description |
|---|---|---|
/cmd_vel |
geometry_msgs.msg.Twist |
Message which expresses velocity in free space broken into its linear and angular parts. |
Published topics
| Topic name | Message type | Description |
|---|---|---|
/left_front_wheel_velocity_controller/commands |
Float64MultiArray |
This message is used to send the joint velocity command values through gazebo ros control to the left front wheel. |
/right_front_wheel_velocity_controller/commands |
Float64MultiArray |
This message is used to send the joint velocity command values through gazebo ros control to the right front wheel. |
/left_rear_wheel_velocity_controller/commands |
Float64MultiArray |
This message is used to send the joint velocity command values through gazebo ros control to the left rear wheel. |
/right_rear_wheel_velocity_controller/commands |
Float64MultiArray |
This message is used to send the joint velocity command values through gazebo ros control to the right rear wheel. |
/left_steering_hinge_position_controller/commands |
Float64MultiArray |
This message is used to send the joint position command values through gazebo ros control to the left steering hinge. |
/right_steering_hinge_position_controller/commands |
Float64MultiArray |
This message is used to send the joint position command values through gazebo ros control to the right steering hinge. |
/odom |
nav_msgs::msg::Odometry |
This message is used to publish the odometry message containing the pose and twist data. |
TF Transformations
| Transformation | Description |
|---|---|
odom -> base_link |
The odometry system to provides the odom -> base_link transformation that is required by the ROS Navigation stack. |
Other References
Resources
CHANGELOG
No CHANGELOG found.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| ament_cmake_gtest | |
| ament_lint_auto | |
| ament_lint_common | |
| geometry_msgs | |
| nav_msgs | |
| sensor_msgs | |
| std_msgs | |
| std_srvs | |
| tf2_geometry_msgs | |
| tf2_ros | |
| gazebo_dev | |
| gazebo_msgs | |
| gazebo_ros | |
| rclcpp |
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| deepracer_description |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged deepracer_drive_plugin at Robotics Stack Exchange
No version for distro jazzy showing github. Known supported distros are highlighted in the buttons above.
|
|
deepracer_drive_plugin package from aws-deepracer repodeepracer_bringup deepracer_description deepracer_drive_plugin cmdvel_to_servo_pkg deepracer_interfaces_pkg enable_deepracer_nav_pkg |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.1 |
| License | Apache 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | Simulation artifacts, core components and configuration files to integrate AWS DeepRacer device with ROS Navigation stack. |
| Checkout URI | https://github.com/aws-deepracer/aws-deepracer.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2022-06-06 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
The deepracer_gazebo package hosts the deepracer_drive plugin that is required to move the car in simulation.
Additional Links
No additional links.
Maintainers
- AWS DeepRacer
Authors
No additional authors.
AWS DeepRacer Gazebo Package
Overview
The AWS DeepRacer repository contains the configuration and launch files to enable ROS Navigation Stack on AWS DeepRacer and control the vehicle using teleop-twist-keyboard, along with the core components to integrate AWS DeepRacer with ROS Navigation stack. For detailed information, see Introduction to the ROS Navigation stack using AWS DeepRacer Evo.
AWS DeepRacer uses Ackermann front-wheel steering to turn wheels on the inside and outside of a turn. This mean that the left and right front wheels generally turn at different angles. The deepracer_gazebo package contains the deepracer_drive gazebo plugin that has subscribes to the /cmd_vel topic and publishes the corresponding joint velocity and position commands to move the car in Gazebo environment. It also takes care of publishing the /odom messages required by the Nav2 packages.
License
The source code is released under Apache 2.0.
Plugin Details
Example:
<plugin name='gazebo_ros_deepracer_drive' filename='libgazebo_ros_deepracer_drive.so'>
<update_rate>15.0</update_rate>
<!-- wheels -->
<front_left_joint>front_left_wheel_joint</front_left_joint>
<front_right_joint>front_right_wheel_joint</front_right_joint>
<rear_left_joint>rear_left_wheel_joint</rear_left_joint>
<rear_right_joint>rear_right_wheel_joint</rear_right_joint>
<left_steering_joint>front_left_steer_joint</left_steering_joint>
<right_steering_joint>front_right_steer_joint</right_steering_joint>
<!-- Max absolute steer angle for tyre in radians-->
<!-- Any cmd_vel angular z greater than this would be capped -->
<max_steer>0.523599</max_steer>
<!-- Max absolute linear speed in m/s -->
<max_speed>4</max_speed>
<!-- output -->
<publish_odom>true</publish_odom>
<publish_odom_tf>true</publish_odom_tf>
<odometry_frame>odom</odometry_frame>
<robot_base_frame>base_link</robot_base_frame>
</plugin>
Node details
Subscribed topics
| Topic name | Message type | Description |
|---|---|---|
/cmd_vel |
geometry_msgs.msg.Twist |
Message which expresses velocity in free space broken into its linear and angular parts. |
Published topics
| Topic name | Message type | Description |
|---|---|---|
/left_front_wheel_velocity_controller/commands |
Float64MultiArray |
This message is used to send the joint velocity command values through gazebo ros control to the left front wheel. |
/right_front_wheel_velocity_controller/commands |
Float64MultiArray |
This message is used to send the joint velocity command values through gazebo ros control to the right front wheel. |
/left_rear_wheel_velocity_controller/commands |
Float64MultiArray |
This message is used to send the joint velocity command values through gazebo ros control to the left rear wheel. |
/right_rear_wheel_velocity_controller/commands |
Float64MultiArray |
This message is used to send the joint velocity command values through gazebo ros control to the right rear wheel. |
/left_steering_hinge_position_controller/commands |
Float64MultiArray |
This message is used to send the joint position command values through gazebo ros control to the left steering hinge. |
/right_steering_hinge_position_controller/commands |
Float64MultiArray |
This message is used to send the joint position command values through gazebo ros control to the right steering hinge. |
/odom |
nav_msgs::msg::Odometry |
This message is used to publish the odometry message containing the pose and twist data. |
TF Transformations
| Transformation | Description |
|---|---|
odom -> base_link |
The odometry system to provides the odom -> base_link transformation that is required by the ROS Navigation stack. |
Other References
Resources
CHANGELOG
No CHANGELOG found.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| ament_cmake_gtest | |
| ament_lint_auto | |
| ament_lint_common | |
| geometry_msgs | |
| nav_msgs | |
| sensor_msgs | |
| std_msgs | |
| std_srvs | |
| tf2_geometry_msgs | |
| tf2_ros | |
| gazebo_dev | |
| gazebo_msgs | |
| gazebo_ros | |
| rclcpp |
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| deepracer_description |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged deepracer_drive_plugin at Robotics Stack Exchange
No version for distro kilted showing github. Known supported distros are highlighted in the buttons above.
|
|
deepracer_drive_plugin package from aws-deepracer repodeepracer_bringup deepracer_description deepracer_drive_plugin cmdvel_to_servo_pkg deepracer_interfaces_pkg enable_deepracer_nav_pkg |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.1 |
| License | Apache 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | Simulation artifacts, core components and configuration files to integrate AWS DeepRacer device with ROS Navigation stack. |
| Checkout URI | https://github.com/aws-deepracer/aws-deepracer.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2022-06-06 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
The deepracer_gazebo package hosts the deepracer_drive plugin that is required to move the car in simulation.
Additional Links
No additional links.
Maintainers
- AWS DeepRacer
Authors
No additional authors.
AWS DeepRacer Gazebo Package
Overview
The AWS DeepRacer repository contains the configuration and launch files to enable ROS Navigation Stack on AWS DeepRacer and control the vehicle using teleop-twist-keyboard, along with the core components to integrate AWS DeepRacer with ROS Navigation stack. For detailed information, see Introduction to the ROS Navigation stack using AWS DeepRacer Evo.
AWS DeepRacer uses Ackermann front-wheel steering to turn wheels on the inside and outside of a turn. This mean that the left and right front wheels generally turn at different angles. The deepracer_gazebo package contains the deepracer_drive gazebo plugin that has subscribes to the /cmd_vel topic and publishes the corresponding joint velocity and position commands to move the car in Gazebo environment. It also takes care of publishing the /odom messages required by the Nav2 packages.
License
The source code is released under Apache 2.0.
Plugin Details
Example:
<plugin name='gazebo_ros_deepracer_drive' filename='libgazebo_ros_deepracer_drive.so'>
<update_rate>15.0</update_rate>
<!-- wheels -->
<front_left_joint>front_left_wheel_joint</front_left_joint>
<front_right_joint>front_right_wheel_joint</front_right_joint>
<rear_left_joint>rear_left_wheel_joint</rear_left_joint>
<rear_right_joint>rear_right_wheel_joint</rear_right_joint>
<left_steering_joint>front_left_steer_joint</left_steering_joint>
<right_steering_joint>front_right_steer_joint</right_steering_joint>
<!-- Max absolute steer angle for tyre in radians-->
<!-- Any cmd_vel angular z greater than this would be capped -->
<max_steer>0.523599</max_steer>
<!-- Max absolute linear speed in m/s -->
<max_speed>4</max_speed>
<!-- output -->
<publish_odom>true</publish_odom>
<publish_odom_tf>true</publish_odom_tf>
<odometry_frame>odom</odometry_frame>
<robot_base_frame>base_link</robot_base_frame>
</plugin>
Node details
Subscribed topics
| Topic name | Message type | Description |
|---|---|---|
/cmd_vel |
geometry_msgs.msg.Twist |
Message which expresses velocity in free space broken into its linear and angular parts. |
Published topics
| Topic name | Message type | Description |
|---|---|---|
/left_front_wheel_velocity_controller/commands |
Float64MultiArray |
This message is used to send the joint velocity command values through gazebo ros control to the left front wheel. |
/right_front_wheel_velocity_controller/commands |
Float64MultiArray |
This message is used to send the joint velocity command values through gazebo ros control to the right front wheel. |
/left_rear_wheel_velocity_controller/commands |
Float64MultiArray |
This message is used to send the joint velocity command values through gazebo ros control to the left rear wheel. |
/right_rear_wheel_velocity_controller/commands |
Float64MultiArray |
This message is used to send the joint velocity command values through gazebo ros control to the right rear wheel. |
/left_steering_hinge_position_controller/commands |
Float64MultiArray |
This message is used to send the joint position command values through gazebo ros control to the left steering hinge. |
/right_steering_hinge_position_controller/commands |
Float64MultiArray |
This message is used to send the joint position command values through gazebo ros control to the right steering hinge. |
/odom |
nav_msgs::msg::Odometry |
This message is used to publish the odometry message containing the pose and twist data. |
TF Transformations
| Transformation | Description |
|---|---|
odom -> base_link |
The odometry system to provides the odom -> base_link transformation that is required by the ROS Navigation stack. |
Other References
Resources
CHANGELOG
No CHANGELOG found.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| ament_cmake_gtest | |
| ament_lint_auto | |
| ament_lint_common | |
| geometry_msgs | |
| nav_msgs | |
| sensor_msgs | |
| std_msgs | |
| std_srvs | |
| tf2_geometry_msgs | |
| tf2_ros | |
| gazebo_dev | |
| gazebo_msgs | |
| gazebo_ros | |
| rclcpp |
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| deepracer_description |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged deepracer_drive_plugin at Robotics Stack Exchange
No version for distro rolling showing github. Known supported distros are highlighted in the buttons above.
|
|
deepracer_drive_plugin package from aws-deepracer repodeepracer_bringup deepracer_description deepracer_drive_plugin cmdvel_to_servo_pkg deepracer_interfaces_pkg enable_deepracer_nav_pkg |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.1 |
| License | Apache 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | Simulation artifacts, core components and configuration files to integrate AWS DeepRacer device with ROS Navigation stack. |
| Checkout URI | https://github.com/aws-deepracer/aws-deepracer.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2022-06-06 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
The deepracer_gazebo package hosts the deepracer_drive plugin that is required to move the car in simulation.
Additional Links
No additional links.
Maintainers
- AWS DeepRacer
Authors
No additional authors.
AWS DeepRacer Gazebo Package
Overview
The AWS DeepRacer repository contains the configuration and launch files to enable ROS Navigation Stack on AWS DeepRacer and control the vehicle using teleop-twist-keyboard, along with the core components to integrate AWS DeepRacer with ROS Navigation stack. For detailed information, see Introduction to the ROS Navigation stack using AWS DeepRacer Evo.
AWS DeepRacer uses Ackermann front-wheel steering to turn wheels on the inside and outside of a turn. This mean that the left and right front wheels generally turn at different angles. The deepracer_gazebo package contains the deepracer_drive gazebo plugin that has subscribes to the /cmd_vel topic and publishes the corresponding joint velocity and position commands to move the car in Gazebo environment. It also takes care of publishing the /odom messages required by the Nav2 packages.
License
The source code is released under Apache 2.0.
Plugin Details
Example:
<plugin name='gazebo_ros_deepracer_drive' filename='libgazebo_ros_deepracer_drive.so'>
<update_rate>15.0</update_rate>
<!-- wheels -->
<front_left_joint>front_left_wheel_joint</front_left_joint>
<front_right_joint>front_right_wheel_joint</front_right_joint>
<rear_left_joint>rear_left_wheel_joint</rear_left_joint>
<rear_right_joint>rear_right_wheel_joint</rear_right_joint>
<left_steering_joint>front_left_steer_joint</left_steering_joint>
<right_steering_joint>front_right_steer_joint</right_steering_joint>
<!-- Max absolute steer angle for tyre in radians-->
<!-- Any cmd_vel angular z greater than this would be capped -->
<max_steer>0.523599</max_steer>
<!-- Max absolute linear speed in m/s -->
<max_speed>4</max_speed>
<!-- output -->
<publish_odom>true</publish_odom>
<publish_odom_tf>true</publish_odom_tf>
<odometry_frame>odom</odometry_frame>
<robot_base_frame>base_link</robot_base_frame>
</plugin>
Node details
Subscribed topics
| Topic name | Message type | Description |
|---|---|---|
/cmd_vel |
geometry_msgs.msg.Twist |
Message which expresses velocity in free space broken into its linear and angular parts. |
Published topics
| Topic name | Message type | Description |
|---|---|---|
/left_front_wheel_velocity_controller/commands |
Float64MultiArray |
This message is used to send the joint velocity command values through gazebo ros control to the left front wheel. |
/right_front_wheel_velocity_controller/commands |
Float64MultiArray |
This message is used to send the joint velocity command values through gazebo ros control to the right front wheel. |
/left_rear_wheel_velocity_controller/commands |
Float64MultiArray |
This message is used to send the joint velocity command values through gazebo ros control to the left rear wheel. |
/right_rear_wheel_velocity_controller/commands |
Float64MultiArray |
This message is used to send the joint velocity command values through gazebo ros control to the right rear wheel. |
/left_steering_hinge_position_controller/commands |
Float64MultiArray |
This message is used to send the joint position command values through gazebo ros control to the left steering hinge. |
/right_steering_hinge_position_controller/commands |
Float64MultiArray |
This message is used to send the joint position command values through gazebo ros control to the right steering hinge. |
/odom |
nav_msgs::msg::Odometry |
This message is used to publish the odometry message containing the pose and twist data. |
TF Transformations
| Transformation | Description |
|---|---|
odom -> base_link |
The odometry system to provides the odom -> base_link transformation that is required by the ROS Navigation stack. |
Other References
Resources
CHANGELOG
No CHANGELOG found.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| ament_cmake_gtest | |
| ament_lint_auto | |
| ament_lint_common | |
| geometry_msgs | |
| nav_msgs | |
| sensor_msgs | |
| std_msgs | |
| std_srvs | |
| tf2_geometry_msgs | |
| tf2_ros | |
| gazebo_dev | |
| gazebo_msgs | |
| gazebo_ros | |
| rclcpp |
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| deepracer_description |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged deepracer_drive_plugin at Robotics Stack Exchange
|
|
deepracer_drive_plugin package from aws-deepracer repodeepracer_bringup deepracer_description deepracer_drive_plugin cmdvel_to_servo_pkg deepracer_interfaces_pkg enable_deepracer_nav_pkg |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.1 |
| License | Apache 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | Simulation artifacts, core components and configuration files to integrate AWS DeepRacer device with ROS Navigation stack. |
| Checkout URI | https://github.com/aws-deepracer/aws-deepracer.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2022-06-06 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
The deepracer_gazebo package hosts the deepracer_drive plugin that is required to move the car in simulation.
Additional Links
No additional links.
Maintainers
- AWS DeepRacer
Authors
No additional authors.
AWS DeepRacer Gazebo Package
Overview
The AWS DeepRacer repository contains the configuration and launch files to enable ROS Navigation Stack on AWS DeepRacer and control the vehicle using teleop-twist-keyboard, along with the core components to integrate AWS DeepRacer with ROS Navigation stack. For detailed information, see Introduction to the ROS Navigation stack using AWS DeepRacer Evo.
AWS DeepRacer uses Ackermann front-wheel steering to turn wheels on the inside and outside of a turn. This mean that the left and right front wheels generally turn at different angles. The deepracer_gazebo package contains the deepracer_drive gazebo plugin that has subscribes to the /cmd_vel topic and publishes the corresponding joint velocity and position commands to move the car in Gazebo environment. It also takes care of publishing the /odom messages required by the Nav2 packages.
License
The source code is released under Apache 2.0.
Plugin Details
Example:
<plugin name='gazebo_ros_deepracer_drive' filename='libgazebo_ros_deepracer_drive.so'>
<update_rate>15.0</update_rate>
<!-- wheels -->
<front_left_joint>front_left_wheel_joint</front_left_joint>
<front_right_joint>front_right_wheel_joint</front_right_joint>
<rear_left_joint>rear_left_wheel_joint</rear_left_joint>
<rear_right_joint>rear_right_wheel_joint</rear_right_joint>
<left_steering_joint>front_left_steer_joint</left_steering_joint>
<right_steering_joint>front_right_steer_joint</right_steering_joint>
<!-- Max absolute steer angle for tyre in radians-->
<!-- Any cmd_vel angular z greater than this would be capped -->
<max_steer>0.523599</max_steer>
<!-- Max absolute linear speed in m/s -->
<max_speed>4</max_speed>
<!-- output -->
<publish_odom>true</publish_odom>
<publish_odom_tf>true</publish_odom_tf>
<odometry_frame>odom</odometry_frame>
<robot_base_frame>base_link</robot_base_frame>
</plugin>
Node details
Subscribed topics
| Topic name | Message type | Description |
|---|---|---|
/cmd_vel |
geometry_msgs.msg.Twist |
Message which expresses velocity in free space broken into its linear and angular parts. |
Published topics
| Topic name | Message type | Description |
|---|---|---|
/left_front_wheel_velocity_controller/commands |
Float64MultiArray |
This message is used to send the joint velocity command values through gazebo ros control to the left front wheel. |
/right_front_wheel_velocity_controller/commands |
Float64MultiArray |
This message is used to send the joint velocity command values through gazebo ros control to the right front wheel. |
/left_rear_wheel_velocity_controller/commands |
Float64MultiArray |
This message is used to send the joint velocity command values through gazebo ros control to the left rear wheel. |
/right_rear_wheel_velocity_controller/commands |
Float64MultiArray |
This message is used to send the joint velocity command values through gazebo ros control to the right rear wheel. |
/left_steering_hinge_position_controller/commands |
Float64MultiArray |
This message is used to send the joint position command values through gazebo ros control to the left steering hinge. |
/right_steering_hinge_position_controller/commands |
Float64MultiArray |
This message is used to send the joint position command values through gazebo ros control to the right steering hinge. |
/odom |
nav_msgs::msg::Odometry |
This message is used to publish the odometry message containing the pose and twist data. |
TF Transformations
| Transformation | Description |
|---|---|
odom -> base_link |
The odometry system to provides the odom -> base_link transformation that is required by the ROS Navigation stack. |
Other References
Resources
CHANGELOG
No CHANGELOG found.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| ament_cmake_gtest | |
| ament_lint_auto | |
| ament_lint_common | |
| geometry_msgs | |
| nav_msgs | |
| sensor_msgs | |
| std_msgs | |
| std_srvs | |
| tf2_geometry_msgs | |
| tf2_ros | |
| gazebo_dev | |
| gazebo_msgs | |
| gazebo_ros | |
| rclcpp |
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| deepracer_description |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged deepracer_drive_plugin at Robotics Stack Exchange
No version for distro galactic showing github. Known supported distros are highlighted in the buttons above.
|
|
deepracer_drive_plugin package from aws-deepracer repodeepracer_bringup deepracer_description deepracer_drive_plugin cmdvel_to_servo_pkg deepracer_interfaces_pkg enable_deepracer_nav_pkg |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.1 |
| License | Apache 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | Simulation artifacts, core components and configuration files to integrate AWS DeepRacer device with ROS Navigation stack. |
| Checkout URI | https://github.com/aws-deepracer/aws-deepracer.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2022-06-06 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
The deepracer_gazebo package hosts the deepracer_drive plugin that is required to move the car in simulation.
Additional Links
No additional links.
Maintainers
- AWS DeepRacer
Authors
No additional authors.
AWS DeepRacer Gazebo Package
Overview
The AWS DeepRacer repository contains the configuration and launch files to enable ROS Navigation Stack on AWS DeepRacer and control the vehicle using teleop-twist-keyboard, along with the core components to integrate AWS DeepRacer with ROS Navigation stack. For detailed information, see Introduction to the ROS Navigation stack using AWS DeepRacer Evo.
AWS DeepRacer uses Ackermann front-wheel steering to turn wheels on the inside and outside of a turn. This mean that the left and right front wheels generally turn at different angles. The deepracer_gazebo package contains the deepracer_drive gazebo plugin that has subscribes to the /cmd_vel topic and publishes the corresponding joint velocity and position commands to move the car in Gazebo environment. It also takes care of publishing the /odom messages required by the Nav2 packages.
License
The source code is released under Apache 2.0.
Plugin Details
Example:
<plugin name='gazebo_ros_deepracer_drive' filename='libgazebo_ros_deepracer_drive.so'>
<update_rate>15.0</update_rate>
<!-- wheels -->
<front_left_joint>front_left_wheel_joint</front_left_joint>
<front_right_joint>front_right_wheel_joint</front_right_joint>
<rear_left_joint>rear_left_wheel_joint</rear_left_joint>
<rear_right_joint>rear_right_wheel_joint</rear_right_joint>
<left_steering_joint>front_left_steer_joint</left_steering_joint>
<right_steering_joint>front_right_steer_joint</right_steering_joint>
<!-- Max absolute steer angle for tyre in radians-->
<!-- Any cmd_vel angular z greater than this would be capped -->
<max_steer>0.523599</max_steer>
<!-- Max absolute linear speed in m/s -->
<max_speed>4</max_speed>
<!-- output -->
<publish_odom>true</publish_odom>
<publish_odom_tf>true</publish_odom_tf>
<odometry_frame>odom</odometry_frame>
<robot_base_frame>base_link</robot_base_frame>
</plugin>
Node details
Subscribed topics
| Topic name | Message type | Description |
|---|---|---|
/cmd_vel |
geometry_msgs.msg.Twist |
Message which expresses velocity in free space broken into its linear and angular parts. |
Published topics
| Topic name | Message type | Description |
|---|---|---|
/left_front_wheel_velocity_controller/commands |
Float64MultiArray |
This message is used to send the joint velocity command values through gazebo ros control to the left front wheel. |
/right_front_wheel_velocity_controller/commands |
Float64MultiArray |
This message is used to send the joint velocity command values through gazebo ros control to the right front wheel. |
/left_rear_wheel_velocity_controller/commands |
Float64MultiArray |
This message is used to send the joint velocity command values through gazebo ros control to the left rear wheel. |
/right_rear_wheel_velocity_controller/commands |
Float64MultiArray |
This message is used to send the joint velocity command values through gazebo ros control to the right rear wheel. |
/left_steering_hinge_position_controller/commands |
Float64MultiArray |
This message is used to send the joint position command values through gazebo ros control to the left steering hinge. |
/right_steering_hinge_position_controller/commands |
Float64MultiArray |
This message is used to send the joint position command values through gazebo ros control to the right steering hinge. |
/odom |
nav_msgs::msg::Odometry |
This message is used to publish the odometry message containing the pose and twist data. |
TF Transformations
| Transformation | Description |
|---|---|
odom -> base_link |
The odometry system to provides the odom -> base_link transformation that is required by the ROS Navigation stack. |
Other References
Resources
CHANGELOG
No CHANGELOG found.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| ament_cmake_gtest | |
| ament_lint_auto | |
| ament_lint_common | |
| geometry_msgs | |
| nav_msgs | |
| sensor_msgs | |
| std_msgs | |
| std_srvs | |
| tf2_geometry_msgs | |
| tf2_ros | |
| gazebo_dev | |
| gazebo_msgs | |
| gazebo_ros | |
| rclcpp |
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| deepracer_description |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged deepracer_drive_plugin at Robotics Stack Exchange
No version for distro iron showing github. Known supported distros are highlighted in the buttons above.
|
|
deepracer_drive_plugin package from aws-deepracer repodeepracer_bringup deepracer_description deepracer_drive_plugin cmdvel_to_servo_pkg deepracer_interfaces_pkg enable_deepracer_nav_pkg |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.1 |
| License | Apache 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | Simulation artifacts, core components and configuration files to integrate AWS DeepRacer device with ROS Navigation stack. |
| Checkout URI | https://github.com/aws-deepracer/aws-deepracer.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2022-06-06 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
The deepracer_gazebo package hosts the deepracer_drive plugin that is required to move the car in simulation.
Additional Links
No additional links.
Maintainers
- AWS DeepRacer
Authors
No additional authors.
AWS DeepRacer Gazebo Package
Overview
The AWS DeepRacer repository contains the configuration and launch files to enable ROS Navigation Stack on AWS DeepRacer and control the vehicle using teleop-twist-keyboard, along with the core components to integrate AWS DeepRacer with ROS Navigation stack. For detailed information, see Introduction to the ROS Navigation stack using AWS DeepRacer Evo.
AWS DeepRacer uses Ackermann front-wheel steering to turn wheels on the inside and outside of a turn. This mean that the left and right front wheels generally turn at different angles. The deepracer_gazebo package contains the deepracer_drive gazebo plugin that has subscribes to the /cmd_vel topic and publishes the corresponding joint velocity and position commands to move the car in Gazebo environment. It also takes care of publishing the /odom messages required by the Nav2 packages.
License
The source code is released under Apache 2.0.
Plugin Details
Example:
<plugin name='gazebo_ros_deepracer_drive' filename='libgazebo_ros_deepracer_drive.so'>
<update_rate>15.0</update_rate>
<!-- wheels -->
<front_left_joint>front_left_wheel_joint</front_left_joint>
<front_right_joint>front_right_wheel_joint</front_right_joint>
<rear_left_joint>rear_left_wheel_joint</rear_left_joint>
<rear_right_joint>rear_right_wheel_joint</rear_right_joint>
<left_steering_joint>front_left_steer_joint</left_steering_joint>
<right_steering_joint>front_right_steer_joint</right_steering_joint>
<!-- Max absolute steer angle for tyre in radians-->
<!-- Any cmd_vel angular z greater than this would be capped -->
<max_steer>0.523599</max_steer>
<!-- Max absolute linear speed in m/s -->
<max_speed>4</max_speed>
<!-- output -->
<publish_odom>true</publish_odom>
<publish_odom_tf>true</publish_odom_tf>
<odometry_frame>odom</odometry_frame>
<robot_base_frame>base_link</robot_base_frame>
</plugin>
Node details
Subscribed topics
| Topic name | Message type | Description |
|---|---|---|
/cmd_vel |
geometry_msgs.msg.Twist |
Message which expresses velocity in free space broken into its linear and angular parts. |
Published topics
| Topic name | Message type | Description |
|---|---|---|
/left_front_wheel_velocity_controller/commands |
Float64MultiArray |
This message is used to send the joint velocity command values through gazebo ros control to the left front wheel. |
/right_front_wheel_velocity_controller/commands |
Float64MultiArray |
This message is used to send the joint velocity command values through gazebo ros control to the right front wheel. |
/left_rear_wheel_velocity_controller/commands |
Float64MultiArray |
This message is used to send the joint velocity command values through gazebo ros control to the left rear wheel. |
/right_rear_wheel_velocity_controller/commands |
Float64MultiArray |
This message is used to send the joint velocity command values through gazebo ros control to the right rear wheel. |
/left_steering_hinge_position_controller/commands |
Float64MultiArray |
This message is used to send the joint position command values through gazebo ros control to the left steering hinge. |
/right_steering_hinge_position_controller/commands |
Float64MultiArray |
This message is used to send the joint position command values through gazebo ros control to the right steering hinge. |
/odom |
nav_msgs::msg::Odometry |
This message is used to publish the odometry message containing the pose and twist data. |
TF Transformations
| Transformation | Description |
|---|---|
odom -> base_link |
The odometry system to provides the odom -> base_link transformation that is required by the ROS Navigation stack. |
Other References
Resources
CHANGELOG
No CHANGELOG found.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| ament_cmake_gtest | |
| ament_lint_auto | |
| ament_lint_common | |
| geometry_msgs | |
| nav_msgs | |
| sensor_msgs | |
| std_msgs | |
| std_srvs | |
| tf2_geometry_msgs | |
| tf2_ros | |
| gazebo_dev | |
| gazebo_msgs | |
| gazebo_ros | |
| rclcpp |
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| deepracer_description |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged deepracer_drive_plugin at Robotics Stack Exchange
No version for distro melodic showing github. Known supported distros are highlighted in the buttons above.
|
|
deepracer_drive_plugin package from aws-deepracer repodeepracer_bringup deepracer_description deepracer_drive_plugin cmdvel_to_servo_pkg deepracer_interfaces_pkg enable_deepracer_nav_pkg |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.1 |
| License | Apache 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | Simulation artifacts, core components and configuration files to integrate AWS DeepRacer device with ROS Navigation stack. |
| Checkout URI | https://github.com/aws-deepracer/aws-deepracer.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2022-06-06 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
The deepracer_gazebo package hosts the deepracer_drive plugin that is required to move the car in simulation.
Additional Links
No additional links.
Maintainers
- AWS DeepRacer
Authors
No additional authors.
AWS DeepRacer Gazebo Package
Overview
The AWS DeepRacer repository contains the configuration and launch files to enable ROS Navigation Stack on AWS DeepRacer and control the vehicle using teleop-twist-keyboard, along with the core components to integrate AWS DeepRacer with ROS Navigation stack. For detailed information, see Introduction to the ROS Navigation stack using AWS DeepRacer Evo.
AWS DeepRacer uses Ackermann front-wheel steering to turn wheels on the inside and outside of a turn. This mean that the left and right front wheels generally turn at different angles. The deepracer_gazebo package contains the deepracer_drive gazebo plugin that has subscribes to the /cmd_vel topic and publishes the corresponding joint velocity and position commands to move the car in Gazebo environment. It also takes care of publishing the /odom messages required by the Nav2 packages.
License
The source code is released under Apache 2.0.
Plugin Details
Example:
<plugin name='gazebo_ros_deepracer_drive' filename='libgazebo_ros_deepracer_drive.so'>
<update_rate>15.0</update_rate>
<!-- wheels -->
<front_left_joint>front_left_wheel_joint</front_left_joint>
<front_right_joint>front_right_wheel_joint</front_right_joint>
<rear_left_joint>rear_left_wheel_joint</rear_left_joint>
<rear_right_joint>rear_right_wheel_joint</rear_right_joint>
<left_steering_joint>front_left_steer_joint</left_steering_joint>
<right_steering_joint>front_right_steer_joint</right_steering_joint>
<!-- Max absolute steer angle for tyre in radians-->
<!-- Any cmd_vel angular z greater than this would be capped -->
<max_steer>0.523599</max_steer>
<!-- Max absolute linear speed in m/s -->
<max_speed>4</max_speed>
<!-- output -->
<publish_odom>true</publish_odom>
<publish_odom_tf>true</publish_odom_tf>
<odometry_frame>odom</odometry_frame>
<robot_base_frame>base_link</robot_base_frame>
</plugin>
Node details
Subscribed topics
| Topic name | Message type | Description |
|---|---|---|
/cmd_vel |
geometry_msgs.msg.Twist |
Message which expresses velocity in free space broken into its linear and angular parts. |
Published topics
| Topic name | Message type | Description |
|---|---|---|
/left_front_wheel_velocity_controller/commands |
Float64MultiArray |
This message is used to send the joint velocity command values through gazebo ros control to the left front wheel. |
/right_front_wheel_velocity_controller/commands |
Float64MultiArray |
This message is used to send the joint velocity command values through gazebo ros control to the right front wheel. |
/left_rear_wheel_velocity_controller/commands |
Float64MultiArray |
This message is used to send the joint velocity command values through gazebo ros control to the left rear wheel. |
/right_rear_wheel_velocity_controller/commands |
Float64MultiArray |
This message is used to send the joint velocity command values through gazebo ros control to the right rear wheel. |
/left_steering_hinge_position_controller/commands |
Float64MultiArray |
This message is used to send the joint position command values through gazebo ros control to the left steering hinge. |
/right_steering_hinge_position_controller/commands |
Float64MultiArray |
This message is used to send the joint position command values through gazebo ros control to the right steering hinge. |
/odom |
nav_msgs::msg::Odometry |
This message is used to publish the odometry message containing the pose and twist data. |
TF Transformations
| Transformation | Description |
|---|---|
odom -> base_link |
The odometry system to provides the odom -> base_link transformation that is required by the ROS Navigation stack. |
Other References
Resources
CHANGELOG
No CHANGELOG found.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| ament_cmake_gtest | |
| ament_lint_auto | |
| ament_lint_common | |
| geometry_msgs | |
| nav_msgs | |
| sensor_msgs | |
| std_msgs | |
| std_srvs | |
| tf2_geometry_msgs | |
| tf2_ros | |
| gazebo_dev | |
| gazebo_msgs | |
| gazebo_ros | |
| rclcpp |
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| deepracer_description |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged deepracer_drive_plugin at Robotics Stack Exchange
No version for distro noetic showing github. Known supported distros are highlighted in the buttons above.
|
|
deepracer_drive_plugin package from aws-deepracer repodeepracer_bringup deepracer_description deepracer_drive_plugin cmdvel_to_servo_pkg deepracer_interfaces_pkg enable_deepracer_nav_pkg |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.1 |
| License | Apache 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | Simulation artifacts, core components and configuration files to integrate AWS DeepRacer device with ROS Navigation stack. |
| Checkout URI | https://github.com/aws-deepracer/aws-deepracer.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2022-06-06 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
The deepracer_gazebo package hosts the deepracer_drive plugin that is required to move the car in simulation.
Additional Links
No additional links.
Maintainers
- AWS DeepRacer
Authors
No additional authors.
AWS DeepRacer Gazebo Package
Overview
The AWS DeepRacer repository contains the configuration and launch files to enable ROS Navigation Stack on AWS DeepRacer and control the vehicle using teleop-twist-keyboard, along with the core components to integrate AWS DeepRacer with ROS Navigation stack. For detailed information, see Introduction to the ROS Navigation stack using AWS DeepRacer Evo.
AWS DeepRacer uses Ackermann front-wheel steering to turn wheels on the inside and outside of a turn. This mean that the left and right front wheels generally turn at different angles. The deepracer_gazebo package contains the deepracer_drive gazebo plugin that has subscribes to the /cmd_vel topic and publishes the corresponding joint velocity and position commands to move the car in Gazebo environment. It also takes care of publishing the /odom messages required by the Nav2 packages.
License
The source code is released under Apache 2.0.
Plugin Details
Example:
<plugin name='gazebo_ros_deepracer_drive' filename='libgazebo_ros_deepracer_drive.so'>
<update_rate>15.0</update_rate>
<!-- wheels -->
<front_left_joint>front_left_wheel_joint</front_left_joint>
<front_right_joint>front_right_wheel_joint</front_right_joint>
<rear_left_joint>rear_left_wheel_joint</rear_left_joint>
<rear_right_joint>rear_right_wheel_joint</rear_right_joint>
<left_steering_joint>front_left_steer_joint</left_steering_joint>
<right_steering_joint>front_right_steer_joint</right_steering_joint>
<!-- Max absolute steer angle for tyre in radians-->
<!-- Any cmd_vel angular z greater than this would be capped -->
<max_steer>0.523599</max_steer>
<!-- Max absolute linear speed in m/s -->
<max_speed>4</max_speed>
<!-- output -->
<publish_odom>true</publish_odom>
<publish_odom_tf>true</publish_odom_tf>
<odometry_frame>odom</odometry_frame>
<robot_base_frame>base_link</robot_base_frame>
</plugin>
Node details
Subscribed topics
| Topic name | Message type | Description |
|---|---|---|
/cmd_vel |
geometry_msgs.msg.Twist |
Message which expresses velocity in free space broken into its linear and angular parts. |
Published topics
| Topic name | Message type | Description |
|---|---|---|
/left_front_wheel_velocity_controller/commands |
Float64MultiArray |
This message is used to send the joint velocity command values through gazebo ros control to the left front wheel. |
/right_front_wheel_velocity_controller/commands |
Float64MultiArray |
This message is used to send the joint velocity command values through gazebo ros control to the right front wheel. |
/left_rear_wheel_velocity_controller/commands |
Float64MultiArray |
This message is used to send the joint velocity command values through gazebo ros control to the left rear wheel. |
/right_rear_wheel_velocity_controller/commands |
Float64MultiArray |
This message is used to send the joint velocity command values through gazebo ros control to the right rear wheel. |
/left_steering_hinge_position_controller/commands |
Float64MultiArray |
This message is used to send the joint position command values through gazebo ros control to the left steering hinge. |
/right_steering_hinge_position_controller/commands |
Float64MultiArray |
This message is used to send the joint position command values through gazebo ros control to the right steering hinge. |
/odom |
nav_msgs::msg::Odometry |
This message is used to publish the odometry message containing the pose and twist data. |
TF Transformations
| Transformation | Description |
|---|---|
odom -> base_link |
The odometry system to provides the odom -> base_link transformation that is required by the ROS Navigation stack. |
Other References
Resources
CHANGELOG
No CHANGELOG found.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| ament_cmake_gtest | |
| ament_lint_auto | |
| ament_lint_common | |
| geometry_msgs | |
| nav_msgs | |
| sensor_msgs | |
| std_msgs | |
| std_srvs | |
| tf2_geometry_msgs | |
| tf2_ros | |
| gazebo_dev | |
| gazebo_msgs | |
| gazebo_ros | |
| rclcpp |
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| deepracer_description |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.